CN107224268A - A kind of multi-pass is imaged automatic joint debugging method and its device - Google Patents

A kind of multi-pass is imaged automatic joint debugging method and its device Download PDF

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Publication number
CN107224268A
CN107224268A CN201710401037.9A CN201710401037A CN107224268A CN 107224268 A CN107224268 A CN 107224268A CN 201710401037 A CN201710401037 A CN 201710401037A CN 107224268 A CN107224268 A CN 107224268A
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lens
unit
imaging unit
fixation target
image
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胡献恩
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Top Medical Technology (hangzhou) Co Ltd
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Top Medical Technology (hangzhou) Co Ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/18Arrangement of plural eye-testing or -examining apparatus
    • A61B3/185Arrangement of plural eye-testing or -examining apparatus characterised by modular construction
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/12Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for looking at the eye fundus, e.g. ophthalmoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/14Arrangements specially adapted for eye photography

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  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Eye Examination Apparatus (AREA)

Abstract

The present invention provides a kind of multi-pass and is imaged automatic joint debugging method, mapping relations are set up including step, gather diopter offset lens amount of movement, automatic joint debugging fixation target regulation lens, image adjustment, automatic combined adjuster is imaged the invention further relates to a kind of multi-pass, including light path imaging module and adjustment module, light path imaging module is provided with optical path unit, adjustment module is used to automatically adjust optical path unit, optical path unit includes eyeground tomography unit, fixation target imaging unit, pupil image unit, fundus imaging unit, fixation target imaging unit is provided with the first adjustment module, eyeground tomography unit is provided with the second adjustment module, fundus imaging unit is provided with the 3rd adjustment module, by in the position for needing to adjust, needed that the adjustment module of different accuracy is installed according to degree of regulation, automatic joint debugging method is imaged using multi-pass, realize the automatic joint debugging of multi-pass, reduce debug time, improve debugging repeatability, reduce the requirement that level is operated to staff.

Description

A kind of multi-pass is imaged automatic joint debugging method and its device
Technical field
Automatic joint debugging method and its dress are imaged the present invention relates to a kind of multi-pass imaging device, more particularly to a kind of multi-pass Put.
Background technology
Optical coherent chromatographic imaging (Optical Coherence Tomography, OCT) technology is one kind to biological group The novel optical diagnosing image technology for carrying out Noninvasive testing is knitted, because auroral poles easily reaches part tissue of eye, therefore optical technology It is a kind of good direction applied to ophthalmology, current fundus imaging mainly uses reflectivity between the different tissues structure of eye Difference, ophthalmology OCT image represents different reflectivity with pseudo-colours, is imaged system in eye examination target and other multi-pass at present In system, such as business OCT targets, each light path module is independent design, and without multi-pass joint debugging mechanism, at present can only be to each Individual light path is individually adjusted, and regulation process can only be by manually completing, it is therefore desirable to which professional staff carries out hand Dynamic regulation, is not carried out the automation of multi-pass regulation.
The content of the invention
In order to overcome the deficiencies in the prior art, an object of the present invention is that providing a kind of multi-pass is imaged automatic joint debugging Method and its device, by the position for needing to adjust, being needed to install the adjustment module of different accuracy according to degree of regulation, are utilized Multi-pass is imaged automatic joint debugging method, realizes the automatic joint debugging of multi-pass, reduces debug time, improves debugging repeatability, reduction The requirement of level is operated to staff.
The present invention provides a kind of multi-pass and is imaged automatic joint debugging method, comprises the following steps:
Mapping relations are set up, diopter offset lens and fixation target regulation lens mapping relations, the reality are set up in experiment Test set up diopter offset lens and fixation target regulation lens mapping relations include experiment set up diopter offset lens move Amount and fixation target adjust lens moving mapping relations;
Gather diopter offset lens amount of movement;
Automatic joint debugging fixation target regulation lens, lens mapping relations are adjusted according to diopter offset lens and fixation target And diopter offset lens amount of movement obtains fixation target regulation lens moving, automatic joint debugging fixation target adjusts lens;
Image adjustment, is handled and is analyzed to the image of imaging unit using image quality analysis algorithms and obtain image High-frequency signal, judges whether image is clear, if the image clearly of imaging unit, need not adjust imaging unit;If imaging is single The fogging image of member, then adjust imaging unit.
Further, the imaging unit includes eyeground tomography unit and fundus imaging unit.
Further, described image analysis algorithm includes two-dimension fourier transform algorithm, the eyeground fault imaging The image of unit and the fundus imaging unit obtains the spectrum information of image by two-dimension fourier transform algorithm.
A kind of multi-pass is imaged automatic combined adjuster, including light path imaging module and adjustment module, the light path imaging mould Block is provided with optical path unit, and the adjustment module is used to automatically adjust the optical path unit, and the optical path unit includes eyeground tomography Imaging unit, fixation target imaging unit, pupil image unit, fundus imaging unit, the eyeground tomography unit are used for Eyeground tomograph is obtained, the fixation target imaging unit is used for the positioning of eyes, and the pupil image unit is used to obtain pupil Hole pattern, the fundus imaging unit is used to obtain eyeground figure, and the fixation target imaging unit is provided with the first adjustment module, described Eyeground tomography unit is provided with the second adjustment module, and the fundus imaging unit is provided with the 3rd adjustment module, and described first adjusts Save module and adjust the fixation target imaging unit, second adjustment module adjusts the eyeground tomography unit, described 3rd adjustment module adjusts the fundus imaging unit.
Further, the eyeground tomography unit includes light source, fiber coupler, reference path, sweep unit, standard Straight lens, the second motor, diopter offset lens, detector, signal processing unit, the light source connect with the fiber coupler Connect, the fiber coupler is connected with the detector, the detector is connected with the signal processing unit, the reference light Road includes speculum, and the fixation target imaging unit includes fixation target, diopter offset lens, the first motor, the 3rd electricity Machine, fixation target regulation lens, the pupil image unit include pupil camera, pupil camera adjustments lens, diopter compensation Lens, the first motor, the fundus imaging unit include fundus camera, diopter offset lens, fundus camera regulation lens, the One motor, diopter offset lens described in first motor control, collimation lens described in second motor control, described Fixation target described in three motor controls adjusts lens, the sweep unit scanning light beam.
Further, first adjustment module is closed provided with diopter offset lens with fixation target regulation lens mapping System, second adjustment module and the 3rd adjustment module are provided with image quality analysis algorithms, and described image quality analysis is calculated Method is used to handling and analyzing image.
Further, the fixation target includes cross target and M shape target.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides a kind of multi-pass and is imaged automatic joint debugging method, including step sets up mapping relations, gathers diopter Offset lens amount of movement, automatic joint debugging fixation target adjusts lens, and image adjustment is imaged certainly the invention further relates to a kind of multi-pass Dynamic combined adjuster, including light path imaging module and adjustment module, the light path imaging module are provided with optical path unit, the regulation mould Block is used to automatically adjust the optical path unit, the optical path unit include eyeground tomography unit, fixation target imaging unit, Pupil image unit, fundus imaging unit, the fixation target imaging unit be provided with the first adjustment module, the eyeground tomography into Picture unit is provided with the second adjustment module, and the fundus imaging unit is provided with the 3rd adjustment module, the first adjustment module regulation The fixation target imaging unit, second adjustment module adjusts the eyeground tomography unit, the 3rd regulation mould Block adjusts the fundus imaging unit, by the position for needing to adjust, being needed to install the tune of different accuracy according to degree of regulation Module is saved, automatic joint debugging method is imaged using multi-pass, the automatic joint debugging of multi-pass is realized, debug time is reduced, debugging is improved Repeatability, reduces the requirement that level is operated to staff.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is imaged automatic joint debugging method flow chart for a kind of multi-pass of the present invention;
Fig. 2 is imaged automatic combined adjuster structured flowchart for a kind of multi-pass of the present invention;
Fig. 3 is multi-pass image-forming module index path of the invention;
Fig. 4 is eyeground tomography unit index path of the invention;
Fig. 5 is fixation imaging unit index path of the invention;
Fig. 6 is pupil image unit index path of the invention;
Fig. 7 is fundus imaging unit index path of the invention;
In accompanying drawing, 1, eyes;2nd, eyepiece;3rd, scanning lens group;4th, sweep unit;15th, reference path;24th, fixation target Adjust lens;25th, fixation target;34th, pupil camera adjustments lens;35th, pupil camera;44th, fundus camera regulation lens;45、 Fundus camera.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination Example.
A kind of multi-pass is imaged automatic joint debugging method, as shown in figure 1, comprising the following steps:
Mapping relations are set up, diopter offset lens and fixation target regulation lens mapping relations are set up in experiment, and experiment is built Vertical diopter offset lens and fixation target regulation lens mapping relations include experiment set up diopter offset lens amount of movement with Fixation target adjusts lens moving mapping relations, and diopter offset lens includes eyepiece and scanning lens group, in an embodiment In, eyepiece amount of movement is such as set up by experiment and fixation target adjusts lens moving relation table;
Diopter offset lens amount of movement is gathered, motor adjusts diopter offset lens, in one embodiment, motor control The distance of eyepiece is adjusted, the amount of movement of eyepiece is gathered;
Automatic joint debugging fixation target regulation lens, lens mapping relations are adjusted according to diopter offset lens and fixation target And diopter offset lens amount of movement obtains fixation target regulation lens moving, automatic joint debugging fixation target adjusts lens, In one embodiment, lens moving relation table and eyepiece amount of movement are adjusted according to eyepiece amount of movement and fixation target, fixation is obtained Target adjusts lens moving, and automatic joint debugging fixation target adjusts lens, eye focus is seen clearly fixation target;
Image adjustment, is handled and is analyzed to the image of imaging unit using image quality analysis algorithms and obtain image High-frequency signal, judges whether image is clear, if the image clearly of imaging unit, need not adjust imaging unit;If imaging is single The fogging image of member, then adjust imaging unit, in one embodiment, it is preferable that imaging unit includes eyeground fault imaging list Member and fundus imaging unit, image quality analysis algorithms include two-dimension fourier transform algorithm, eyeground tomography unit and eye The image of bottom imaging unit obtains the spectrum information of image by two-dimension fourier transform algorithm;Eyeground tomography unit and eye There is inclined interference signal in bottom imaging unit, according to the feature of interference signal, extract eyeground tomography unit and eyeground into As the high-frequency signal horizontally and vertically of cell picture spectrum information;Eyeground tomography unit and eye are calculated respectively The high-frequency signal of the horizontal direction of bottom imaging unit and the high-frequency signal of vertical direction, and the high-frequency signal to horizontal direction respectively It is normalized with the high-frequency signal of vertical direction;The high-frequency signal of the horizontal direction of eyeground tomography unit and vertical The high-frequency signal in direction, which is multiplied, obtains the high-frequency signal of eyeground tomography unit image, the horizontal direction of fundus imaging unit High-frequency signal is multiplied with the high-frequency signal of vertical direction obtains the high-frequency signal of fundus imaging cell picture;Analyze eyeground tomography into As unit and the high-frequency signal of the image of fundus imaging unit, judge whether image resolution ratio meets requirement, such as eye fundus image point Resolution is 41.7lp/mm, and eye fundus image resolution ratio is less than 80lp/mm, and eye fundus image resolution ratio is unsatisfactory for requiring, then automatically adjusted Eyeground tomography unit and fundus imaging unit.
A kind of multi-pass is imaged automatic combined adjuster, as shown in Fig. 2 including light path imaging module and adjustment module, light path Image-forming module is provided with optical path unit, and adjustment module is used to automatically adjust optical path unit, as shown in figure 3, optical path unit includes eyeground Tomography unit, fixation target imaging unit, pupil image unit, fundus imaging unit, eyeground tomography unit are used for Eyeground tomograph is obtained, fixation target imaging unit is used for the positioning of eyes, and pupil image unit is used to obtain pupillogram, eyeground Imaging unit is used to obtain eyeground figure, and fixation target imaging unit is provided with the first adjustment module, and eyeground tomography unit is provided with Second adjustment module, fundus imaging unit is provided with the 3rd adjustment module, and the first adjustment module adjusts fixation target imaging unit, the Two adjustment modules adjust eyeground tomography unit, the 3rd adjustment module regulation fundus imaging unit.
Preferably, in one embodiment, as shown in figure 4, eyeground tomography unit includes diopter offset lens, scanning Part 4, reference path 15, light source, fiber coupler, detector, signal processing unit, collimation lens, the first motor, the second electricity Machine, diopter offset lens includes eyepiece 2 and scanning lens group 3, the first motor regulation diopter offset lens, the second motor control Collimation lens processed, coupling light source and optical fiber device optical fiber connection, sweep unit includes plane mirror, fiber coupler and detector Connection, detector is connected with signal processing unit, and reference path 15 includes speculum, what super-radiance light emitting diode light source was produced Weak coherent light injection fibre coupler, the collimated lens of weak coherent light are divided into reference beam and flashlight in fiber coupler Beam, reference beam reflects into the reflected mirror of reference path 15, and the scanned part 4 of signal beams and scanning lens group 3 enter pleasing to the eye There is certain penetration depth after eyeball 1, eyes 1 have certain since its surface in the every aspect of different depth to this light beam Back-reflection, the back-reflection light of reflected light and eyes 1 from reference path 15 is again introduced into optical fiber, and in fiber coupler The strength signal for interfering light beam after superposition, superposition is met measured by detector, detector measurement to signal be uploaded to Signal processing unit is handled, and the signal after processing is shown as eyeground tomograph after processing on computers, such as Fig. 5 institutes Show, fixation target imaging unit include fixation target 25, diopter offset lens, fixation target regulation lens 24, the first motor, 3rd motor, diopter offset lens includes eyepiece 2 and scanning lens group 3, it is preferable that fixation target 25 includes but is not limited to ten Font target and M shape target, the 3rd motor control fixation target regulation lens 24, the light beam of fixation target 25 is through fixation mesh Mark regulation lens 24 reach speculum, and the 3rd motor control regulation fixation target adjusts the distance of lens 24, the reflected mirror of light beam Into eyepiece 2 and scanning lens group 3, the distance of the first motor control regulation eyepiece 2 and scanning lens group 3, light beam is through eyes 1 In fundus imaging after crystalline lens refraction, as shown in fig. 6, pupil image unit includes pupil camera 35, pupil camera adjustments lens 34th, diopter offset lens, the first motor, diopter offset lens include eyepiece 2 and scanning lens group 3, and the pupil of eyes 1 is anti- The light beam penetrated reaches speculum by eyepiece 2 and scanning lens group 3, the first motor control regulation eyepiece 2 and scanning lens group 3 Distance, the reflected mirror of light beam enters pupil camera adjustments lens 34, pupillogram is obtained with pupil camera 35, as shown in fig. 7, eyeground Imaging unit includes fundus camera 45, diopter offset lens, fundus camera regulation lens 44, the first motor, the first motor control Diopter offset lens processed, diopter offset lens includes eyepiece 2 and scanning lens group 3, and the light beam of the fundus reflex of eyes 1 is passed through Cross eyepiece 2 and scanning lens group 3 reaches the distance of speculum, the first motor control regulation eyepiece 2 and scanning lens group 3, light beam Reflected mirror enters fundus camera and adjusts lens 44, and eyeground figure is obtained with fundus camera 45.
In one embodiment, it is preferable that the first adjustment module adjusts lens provided with diopter offset lens with fixation target Mapping relations, diopter offset lens includes eyepiece and scanning lens group, and diopter offset lens adjusts lens with fixation target Mapping relations include diopter offset lens amount of movement and fixation target regulation lens moving relation table, are bent by testing to set up Luminosity offset lens amount of movement and fixation target regulation lens moving relation table, the first motor control regulation diopter compensation are saturating Mirror, adjusts lens moving relation table by diopter offset lens amount of movement and fixation target and obtains fixation target regulation lens 24 amount of movements, adjust fixation target by the 3rd motor control and adjust lens 24, eyes 1 is seen clearly fixation target, eye Bottom tomography unit obtains eyeground tomograph, and fundus imaging unit obtains eyeground figure by fundus camera 45, if eyeground tomography The image clearly of imaging unit and fundus imaging unit, then need not adjust eyeground tomography unit and fundus imaging unit, If the fogging image of eyeground tomography unit or fundus imaging unit, using the second adjustment module adjust eyeground tomography into As unit, fundus imaging unit is adjusted using the 3rd adjustment module.
In one embodiment, the second adjustment module and the 3rd adjustment module are provided with image quality analysis algorithms, picture quality Parser is used to handling and analyzing image, and the second adjustment module and the 3rd adjustment module are obtained by two-dimension fourier transform algorithm The spectrum information of image is taken, the high-frequency signal of image level direction and vertical direction is then extracted, to horizontal direction and Vertical Square To high-frequency signal calculated and normalized, the high-frequency signal that the high-frequency signal of horizontal direction is multiplied by vertical direction is obtained When the high-frequency signal of image, eyeground tomograph or eye fundus image resolution ratio are less than rate respectively is provided, the second adjustment module is utilized to adjust Eyeground tomography unit is saved, fundus imaging unit is adjusted using the 3rd adjustment module.
The present invention provides a kind of multi-pass and is imaged automatic joint debugging method, including step sets up mapping relations, gathers diopter Offset lens amount of movement, automatic joint debugging fixation target adjusts lens, and image adjustment is imaged certainly the invention further relates to a kind of multi-pass Dynamic combined adjuster, including light path imaging module and adjustment module, light path imaging module are provided with optical path unit, and adjustment module is used for certainly Dynamic regulation optical path unit, optical path unit includes eyeground tomography unit, fixation target imaging unit, pupil image unit, eye Bottom imaging unit, fixation imaging unit is provided with the first adjustment module, and eyeground tomography unit is provided with the second adjustment module, eyeground Imaging unit is provided with the 3rd adjustment module, the first adjustment module regulation fixation target imaging unit, the second adjustment module regulation eye Bottom tomography unit, the 3rd adjustment module regulation fundus imaging unit, by the position for needing to adjust, according to degree of regulation The adjustment module of installation different accuracy is needed, automatic joint debugging method is imaged using multi-pass, realizes the automatic joint debugging of multi-pass, subtract Few debug time, improves debugging repeatability, reduces the requirement that level is operated to staff.
More than, only presently preferred embodiments of the present invention not makees any formal limitation to the present invention;All one's own professions The those of ordinary skill of industry can swimmingly implement the present invention shown in by specification accompanying drawing and above;But, it is all that to be familiar with sheet special Without departing from the scope of the present invention, that is made using disclosed above technology contents is a little by the technical staff of industry The equivalent variations of variation, modification and evolution, are the equivalent embodiment of the present invention;Meanwhile, all substantial technologicals according to the present invention Variation, modification and evolution of any equivalent variations made to above example etc., still fall within technical scheme Within protection domain.

Claims (7)

1. a kind of multi-pass is imaged automatic joint debugging method, it is characterised in that comprise the following steps:
Mapping relations are set up, diopter offset lens and fixation target regulation lens mapping relations are set up in experiment, and the experiment is built Vertical diopter offset lens and fixation target regulation lens mapping relations include experiment set up diopter offset lens amount of movement with Fixation target adjusts lens moving mapping relations;
Gather diopter offset lens amount of movement;
Automatic joint debugging fixation target regulation lens, adjust lens mapping relations according to diopter offset lens and fixation target and bend Luminosity offset lens amount of movement obtains fixation target regulation lens moving, and automatic joint debugging fixation target adjusts lens;
Image adjustment, is handled and is analyzed the high frequency for obtaining image to the image of imaging unit using image quality analysis algorithms Signal, judges whether image is clear, if the image clearly of imaging unit, need not adjust imaging unit;If imaging unit Fogging image, then adjust imaging unit.
2. a kind of multi-pass as claimed in claim 1 is imaged automatic joint debugging method, it is characterised in that:The imaging unit includes Eyeground tomography unit and fundus imaging unit.
3. a kind of multi-pass as claimed in claim 2 is imaged automatic joint debugging method, it is characterised in that:Described image quality analysis Algorithm includes two-dimension fourier transform algorithm, and the image of the eyeground tomography unit and the fundus imaging unit passes through two Dimension fourier transform algorithm obtains the spectrum information of image.
4. a kind of multi-pass is imaged automatic combined adjuster, it is characterised in that:Including light path imaging module and adjustment module, the light Road image-forming module is provided with optical path unit, and the adjustment module is used to automatically adjust the optical path unit, and the optical path unit includes Eyeground tomography unit, fixation target imaging unit, pupil image unit, fundus imaging unit, the eyeground fault imaging Unit is used to obtain eyeground tomograph, and the fixation target imaging unit is used for the positioning of eyes, and the pupil image unit is used In obtaining pupillogram, the fundus imaging unit is used to obtain eyeground figure, and the fixation target imaging unit is provided with the first regulation Module, the eyeground tomography unit is provided with the second adjustment module, and the fundus imaging unit is provided with the 3rd adjustment module, institute State the first adjustment module and adjust the fixation target imaging unit, second adjustment module adjusts the eyeground fault imaging list Member, the 3rd adjustment module adjusts the fundus imaging unit.
5. a kind of multi-pass as claimed in claim 4 is imaged automatic combined adjuster, it is characterised in that the eyeground fault imaging Unit includes light source, fiber coupler, reference path, sweep unit, collimation lens, the second motor, diopter offset lens, spy Device, signal processing unit are surveyed, the light source is connected with the fiber coupler, the fiber coupler connects with the detector Connect, the detector is connected with the signal processing unit, the reference path includes speculum, the fixation target imaging is single Member includes fixation target, diopter offset lens, the first motor, the 3rd motor, fixation target regulation lens, the pupil image Unit includes pupil camera, pupil camera adjustments lens, diopter offset lens, the first motor, the fundus imaging unit bag Include fundus camera, diopter offset lens, fundus camera regulation lens, the first motor, dioptric described in first motor control Offset lens is spent, collimation lens described in second motor control, fixation target described in the 3rd motor control adjusts lens, The sweep unit scanning light beam.
6. a kind of multi-pass as claimed in claim 4 is imaged automatic combined adjuster, it is characterised in that:First adjustment module Lens mapping relations, second adjustment module and the 3rd regulation mould are adjusted provided with diopter offset lens and fixation target Block is provided with image quality analysis algorithms, and described image analysis algorithm is used to handling and analyzing image.
7. a kind of multi-pass as claimed in claim 6 is imaged automatic combined adjuster, it is characterised in that:The fixation target includes Cross target and M shape target.
CN201710401037.9A 2017-05-31 2017-05-31 A kind of multi-pass is imaged automatic joint debugging method and its device Pending CN107224268A (en)

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